{"id":20406326,"url":"https://github.com/anybotics/anymal_b_simple_description","last_synced_at":"2025-08-09T19:18:25.958Z","repository":{"id":56362438,"uuid":"180160362","full_name":"ANYbotics/anymal_b_simple_description","owner":"ANYbotics","description":"Simplified robot description of the ANYmal B quadrupedal robot.","archived":false,"fork":false,"pushed_at":"2020-11-11T12:06:12.000Z","size":6879,"stargazers_count":81,"open_issues_count":0,"forks_count":39,"subscribers_count":17,"default_branch":"master","last_synced_at":"2025-01-15T12:15:16.059Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":"","language":"CMake","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"bsd-3-clause","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/ANYbotics.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null}},"created_at":"2019-04-08T13:55:49.000Z","updated_at":"2024-12-30T05:33:51.000Z","dependencies_parsed_at":"2022-08-15T17:20:30.126Z","dependency_job_id":null,"html_url":"https://github.com/ANYbotics/anymal_b_simple_description","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ANYbotics%2Fanymal_b_simple_description","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ANYbotics%2Fanymal_b_simple_description/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ANYbotics%2Fanymal_b_simple_description/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ANYbotics%2Fanymal_b_simple_description/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/ANYbotics","download_url":"https://codeload.github.com/ANYbotics/anymal_b_simple_description/tar.gz/refs/heads/master","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":241950656,"owners_count":20047665,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2024-11-15T05:16:29.946Z","updated_at":"2025-03-05T02:19:59.679Z","avatar_url":"https://github.com/ANYbotics.png","language":"CMake","funding_links":[],"categories":[],"sub_categories":[],"readme":"# ANYmal B Robot Description (URDF)\n## Overview\n\nThis package contains a simplified robot description (URDF) of the [ANYmal B robot](https://www.anybotics.com/anymal) developed by [ANYbotics](https://www.anybotics.com).\n\nThe extended ANYmal B robot description, simulation, and control software is available exclusively to members of the [ANYmal Research community](https://www.anymal-research.org). For more information and membership applications, contact info@anybotics.com.\n\n**Author \u0026 Maintainer: Linus Isler, [ANYbotics](https://www.anybotics.com)**\n\n[![ANYmal B Robot Description](doc/anymal_b_rviz.png)](doc/anymal_b_rviz.png)\n\n## License\n\nThis software is released under a [BSD 3-Clause license](LICENSE).\n\n## Publications\n\nIf you use this work in an academic context, please cite the following publications:\n\n\u003e M. Hutter, C. Gehring, A. Lauber, F. Gunther, C. D. Bellicoso, V. Tsounis, P. Fankhauser, R. Diethelm, S. Bachmann, M. Bloesch, H. Kolvenbach, M. Bjelonic, L. Isler and K. Meyer\n\u003e **\"ANYmal - toward legged robots for harsh environments“**,\n\u003e in Advanced Robotics, 31.17, 2017. ([DOI](https://doi.org/10.1080/01691864.2017.1378591))\n\n    @article{anymal2017,\n        title={ANYmal-toward legged robots for harsh environments},\n        author={Hutter, Marco and Gehring, Christian and Lauber, Andreas and Gunther, Fabian and Bellicoso, Carmine Dario and Tsounis, Vassilios and Fankhauser, P{\\'e}ter and Diethelm, Remo and Bachmann, Samuel and Bl{\\\"o}sch, Michael and Kolvenbach, Hendrik and Bjelonic, Marko and Isler, Linus and Meyer, Konrad},\n        journal={Advanced Robotics},\n        volume={31},\n        number={17},\n        pages={918--931},\n        year={2017},\n        publisher={Taylor \\\u0026 Francis}\n    }\n\n\u003e ANYbotics,\n\u003e **\"ANYmal – Autonomous Legged Robot“**,\n\u003e [https://www.anybotics.com/anymal](https://www.anybotics.com/anymal) (accessed: 01.01.2019)\n\n    @misc{anymal,\n        author = {ANYbotics},\n        title = {{ANYmal - Autonomous Legged Robot}},\n        howpublished = {\\url{https://www.anybotics.com/anymal}},\n        note = {Accessed: 2019-01-01}\n    }\n\n## Usage\n\nLoad the ANYmal description to the ROS parameter server:\n\n    roslaunch anymal_b_simple_description load.launch\n\nTo visualize and debug the robot description, start the standalone visualization (note that you have to provide the following additional dependencies: `joint_state_publisher`, `robot_state_publisher`, `rviz`):\n\n    roslaunch anymal_b_simple_description standalone.launch\n\n### Launch files\n\n* **`load.launch`:** Loads the URDF to the parameter server. Meant to be included in higher level launch files.\n\n* **`standalone.launch`:** A standalone launch file that starts RViz and a joint state publisher to debug the description.\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fanybotics%2Fanymal_b_simple_description","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fanybotics%2Fanymal_b_simple_description","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fanybotics%2Fanymal_b_simple_description/lists"}